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Author:Grönholm, Johan
Title:Developing a generic multi-machine simulator environment
Geneerisen monikone-simulaattoriympäristön kehittäminen
Publication type:Master's thesis
Publication year:2012
Pages:45      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Suomela, Jussi
Instructor:Saarinen, Jari
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
Instructions

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Location:P1 Ark Aalto  5122   | Archive
Keywords:simulation
robot
multi-machine
generic
simulointi
robotti
monikone
geneerinen
Abstract (eng): This thesis presents a generic way to simulate multi-machine scenarios.
A simulator environment with the necessary tools has been developed to meet the requirements of the robotics industry.
The main requirement is genericness: the simulator needs to be easily configurable for different simulation purposes.

This thesis begins by defining the requirements of the simulator, and for this a list of requirements was received from two companies in the robotics industry.
Current open source simulation software components are reviewed and tested, and the most suitable simulator engine and machine control architecture is chosen.
From these components the architecture of the simulator environment is proposed.
After this, the implementation and development sections present the practical programming work of this thesis.

The end result of this thesis, a generic multi-machine simulator environment, is tested to see if the requirements are met.
A generic use-case serves as a tutorial for using the simulator.
Abstract (fin): Tämä työ esittää miten monikone-tilanteita voidaan simuloida geneerisesti.
Simulaattoriympäristö työkaluineen on kehitetty vastaamaan yritysten vaatimuksia.
Päävaatimus on geneerisyys: simulaattoria täytyy pystyä käyttämään helposti eri simulointitapauksissa.

Tämä työ alkaa vaatimusten määrittämisellä, ja tätä varten on kerätty lista vaatimuksia kahdelta yritykseltä jotka käyttävät monikone-simulaattoreita.
Olemassa olevia avoimen lähdekoodin simulointiin tarkoitettuja ohjelmistokomponentteja esitetään, ja testien perusteella sopivin simulaattorimoottori ja koneiden ohjausarkkitehtuuri valitaan.
Näistä komponenteista luodaan tämän työn simulaattoriympäristön arkkitehtuuri.
Käytännön ohjelmointityö esitetään implementointi- ja ohjelmistokehityskappaleissa.

Työn tuloksena syntynyt simulaattoriympäristö testataan asetettujen vaatimusten osalta.
Geneerinen käyttötapaus toimii esimerkkinä miten simulaattoria käytetään.
ED:2012-08-24
INSSI record number: 45109
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